Digital-Twin-Assisted Skill Learning for 3C Assembly Tasks.

The utilization of robots in computer, communication, and consumer electronics (3C) assembly has the potential to significantly reduce labor costs and enhance assembly efficiency. However, many typical scenarios in 3C assembly, such as the assembly of flexible printed circuits (FPCs), involve complex manipulations with long-horizon steps and high-precision requirements that cannot be effectively accomplished through manual programming or conventional skill-learning methods. To address this challenge, this article proposes a learning-based framework for the acquisition of complex 3C assembly skills assisted by a multimodal digital-twin environment. First, we construct a fully equivalent digital-twin environment based on the real-world counterpart, equipped with visual, tactile force, and proprioception information, and then collect multimodal demonstration data using virtual reality (VR) devices. Next, we construct a skill knowledge base through multimodal skill parsing of demonstration data, resulting in primitive policy sequences for achieving 3C assembly tasks. Finally, we train primitive policies via a combination of curriculum learning, residual reinforcement learning, and domain randomization methods and transfer the learned skill from the digital-twin environment to the real-world environment. The experiments are conducted to verify the effectiveness of our proposed method.

Semi-Supervised Detection Model Based on Adaptive Ensemble Learning for Medical Images.

Introducing deep learning technologies into the medical image processing field requires accuracy guarantee, especially for high-resolution images relayed through endoscopes. Moreover, works relying on supervised learning are powerless in the case of inadequate labeled samples. Therefore, for end-to-end medical image detection with overcritical efficiency and accuracy in endoscope detection, an ensemble-learning-based model with a semi-supervised mechanism is developed in this work. To gain a more accurate result through multiple detection models, we propose a new ensemble mechanism, termed alternative adaptive boosting method (Al-Adaboost), combining the decision-making of two hierarchical models. Specifically, the proposal consists of two modules. One is a local region proposal model with attentive temporal-spatial pathways for bounding box regression and classification, and the other one is a recurrent attention model (RAM) to provide more precise inferences for further classification according to the regression result. The proposal Al-Adaboost will adjust the weights of labeled samples and the two classifiers adaptively, and the nonlabel samples are assigned pseudolabels by our model. We investigate the performance of Al-Adaboost on both the colonoscopy and laryngoscopy data coming from CVC-ClinicDB and the affiliated hospital of Kaohsiung Medical University. The experimental results prove the feasibility and superiority of our model.